A father has made a tearful and desperate plea for his three year-old daughter, who was allegedly abducted by her mother and taken to the UK.

Victoria McKay, 43, is believed to have left Melbourne in September, taking her daughter Ruby McKay-Uhd with her to live in a campervan.

A British High Court is urging the public for help finding the missing three-year-old, who has been at the centre of family court proceedings involving her Birmingham-born yoga teacher mother and Australian-born yoga teacher father Peter Uhd.

Mr Uhd, 57, who last saw his daughter when she was two-years-old, told Channel 7 on Thursday he never expected Ms McKay would leave with their daughter.

Ms McKay had lived in Australia for more than 20 years. The couple separated some time ago.

'It was quite a shock - I never thought she would leave. I thought she had so much here she really valued,' the father said.

'I think every child deserves the love and care and respect of both of his parents.'

Peter Uhd, 57, (left with daughter) has made a tearful and desperate plea for his three year-old daughter - who was allegedly abducted by her mother and taken to the UK

The father battled through tears as he revealed Ruby was starting to talk the last time her.

A family court judge has ordered Ms McKay return to Australia with their child.